//=================================================================================================
// Copyright (c) 2012, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#ifndef HECTOR_GAZEBO_PLUGINS_GNSS_CONFIG_H
#define HECTOR_GAZEBO_PLUGINS_GNSS_CONFIG_H

#include <rclcpp/rclcpp.hpp>
#include <rclcpp/node.hpp>
#include <gazebo_ros/node.hpp>


namespace gazebo
{

class GNSSConfig
{
public:
  GNSSConfig(gazebo_ros::Node::SharedPtr node) 
  {
    this->node_ = node;

    // Initialize the parameters
    node_->declare_parameter<bool>("status_fix", true);  // unaugmented fix
    node_->declare_parameter<bool>("status_sbas_fix", false);  // fix with satellite-based augmentation
    node_->declare_parameter<bool>("status_gbas_fix", false);  // with ground-based augmentation
    node_->declare_parameter<bool>("service_gps", true);  // GPS service
    node_->declare_parameter<bool>("service_glonass", true);  // GLONASS service
    node_->declare_parameter<bool>("service_compass", true);  // COMPASS service
    node_->declare_parameter<bool>("service_galileo", true);  // GALILEO service
  }

  virtual ~GNSSConfig() 
  {
    node_ = nullptr;
  }

private:
  gazebo_ros::Node::SharedPtr node_;
};

} // namespace gazebo

#endif // HECTOR_GAZEBO_PLUGINS_GNSS_CONFIG_H
